{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:YG354DBSK3VI3VLTCBOYKCUZ2W","short_pith_number":"pith:YG354DBS","canonical_record":{"source":{"id":"2108.03332","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-08-06T23:36:23Z","cross_cats_sorted":["cs.AI","cs.CV"],"title_canon_sha256":"57e6f0bd572860a02dbccfb65c2bc666964c58af00736eab9ed9ca658d164aed","abstract_canon_sha256":"4b3869147c590cd2be415209c3fd7e693f8ca2dd7ac090029b74f115b60cebc1"},"schema_version":"1.0"},"canonical_sha256":"c1b7de0c3256ea8dd573105d850a99d58a15769849122a2ee8bdaa15fd1b45b0","source":{"kind":"arxiv","id":"2108.03332","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2108.03332","created_at":"2026-07-05T03:03:51Z"},{"alias_kind":"arxiv_version","alias_value":"2108.03332v1","created_at":"2026-07-05T03:03:51Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2108.03332","created_at":"2026-07-05T03:03:51Z"},{"alias_kind":"pith_short_12","alias_value":"YG354DBSK3VI","created_at":"2026-07-05T03:03:51Z"},{"alias_kind":"pith_short_16","alias_value":"YG354DBSK3VI3VLT","created_at":"2026-07-05T03:03:51Z"},{"alias_kind":"pith_short_8","alias_value":"YG354DBS","created_at":"2026-07-05T03:03:51Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:YG354DBSK3VI3VLTCBOYKCUZ2W","target":"record","payload":{"canonical_record":{"source":{"id":"2108.03332","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-08-06T23:36:23Z","cross_cats_sorted":["cs.AI","cs.CV"],"title_canon_sha256":"57e6f0bd572860a02dbccfb65c2bc666964c58af00736eab9ed9ca658d164aed","abstract_canon_sha256":"4b3869147c590cd2be415209c3fd7e693f8ca2dd7ac090029b74f115b60cebc1"},"schema_version":"1.0"},"canonical_sha256":"c1b7de0c3256ea8dd573105d850a99d58a15769849122a2ee8bdaa15fd1b45b0","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T03:03:51.884298Z","signature_b64":"7IZ2icAQqE5MXxS6HLFmuRWbIb6qlY2w7hINEFHYNsbg1wMxPDqiLToZDBVzPfMX+vE+/YBJMkTGvhyndY3WDQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"c1b7de0c3256ea8dd573105d850a99d58a15769849122a2ee8bdaa15fd1b45b0","last_reissued_at":"2026-07-05T03:03:51.883862Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T03:03:51.883862Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2108.03332","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T03:03:51Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"xmVaLSCkhM9HbyGZIq/C7Eg2HI4qoqZpWPjzw4MOC6/DUHstTuCSAgVGsoZZR6kdOTPDDxE5Ktncz2DRfzT9Cg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-08T02:54:29.424429Z"},"content_sha256":"ceb516af315ba2a8b10d3e2babadb2f67c60d9f568b4ec73721f4fcc4960543f","schema_version":"1.0","event_id":"sha256:ceb516af315ba2a8b10d3e2babadb2f67c60d9f568b4ec73721f4fcc4960543f"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:YG354DBSK3VI3VLTCBOYKCUZ2W","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"BEHAVIOR: Benchmark for Everyday Household Activities in Virtual, Interactive, and Ecological Environments","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.AI","cs.CV"],"primary_cat":"cs.RO","authors_text":"Cem Gokmen, Chengshu Li, C. Karen Liu, Fei Xia, Hyowon Gweon, Jiajun Wu, Kent Vainio, Li Fei-Fei, Michael Lingelbach, Roberto Mart\\'in-Mart\\'in, Sanjana Srivastava, Shyamal Buch, Silvio Savarese, Zheng Lian","submitted_at":"2021-08-06T23:36:23Z","abstract_excerpt":"We introduce BEHAVIOR, a benchmark for embodied AI with 100 activities in simulation, spanning a range of everyday household chores such as cleaning, maintenance, and food preparation. These activities are designed to be realistic, diverse, and complex, aiming to reproduce the challenges that agents must face in the real world. Building such a benchmark poses three fundamental difficulties for each activity: definition (it can differ by time, place, or person), instantiation in a simulator, and evaluation. BEHAVIOR addresses these with three innovations. First, we propose an object-centric, pr"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2108.03332","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2108.03332/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T03:03:51Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Yty1pOVdwWt2kJeG+IdSdj3q3I3d3XmoTuvI/sgb16wxGxaS1/qZvksRNCMM9lPSDVY+vpPG3EENuRAZ1DUQDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-08T02:54:29.430657Z"},"content_sha256":"d92ebe8acaca585a912312c88bb96fd1bcc36e12c190b09edb8acdb0dbdcf486","schema_version":"1.0","event_id":"sha256:d92ebe8acaca585a912312c88bb96fd1bcc36e12c190b09edb8acdb0dbdcf486"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/YG354DBSK3VI3VLTCBOYKCUZ2W/bundle.json","state_url":"https://pith.science/pith/YG354DBSK3VI3VLTCBOYKCUZ2W/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/YG354DBSK3VI3VLTCBOYKCUZ2W/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-08-08T02:54:29Z","links":{"resolver":"https://pith.science/pith/YG354DBSK3VI3VLTCBOYKCUZ2W","bundle":"https://pith.science/pith/YG354DBSK3VI3VLTCBOYKCUZ2W/bundle.json","state":"https://pith.science/pith/YG354DBSK3VI3VLTCBOYKCUZ2W/state.json","well_known_bundle":"https://pith.science/.well-known/pith/YG354DBSK3VI3VLTCBOYKCUZ2W/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:YG354DBSK3VI3VLTCBOYKCUZ2W","merge_version":"pith-open-graph-merge-v1","event_count":2,"valid_event_count":2,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"4b3869147c590cd2be415209c3fd7e693f8ca2dd7ac090029b74f115b60cebc1","cross_cats_sorted":["cs.AI","cs.CV"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-08-06T23:36:23Z","title_canon_sha256":"57e6f0bd572860a02dbccfb65c2bc666964c58af00736eab9ed9ca658d164aed"},"schema_version":"1.0","source":{"id":"2108.03332","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2108.03332","created_at":"2026-07-05T03:03:51Z"},{"alias_kind":"arxiv_version","alias_value":"2108.03332v1","created_at":"2026-07-05T03:03:51Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2108.03332","created_at":"2026-07-05T03:03:51Z"},{"alias_kind":"pith_short_12","alias_value":"YG354DBSK3VI","created_at":"2026-07-05T03:03:51Z"},{"alias_kind":"pith_short_16","alias_value":"YG354DBSK3VI3VLT","created_at":"2026-07-05T03:03:51Z"},{"alias_kind":"pith_short_8","alias_value":"YG354DBS","created_at":"2026-07-05T03:03:51Z"}],"graph_snapshots":[{"event_id":"sha256:d92ebe8acaca585a912312c88bb96fd1bcc36e12c190b09edb8acdb0dbdcf486","target":"graph","created_at":"2026-07-05T03:03:51Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"graph_snapshot":{"author_claims":{"count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","strong_count":0},"builder_version":"pith-number-builder-2026-05-17-v1","claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2108.03332/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We introduce BEHAVIOR, a benchmark for embodied AI with 100 activities in simulation, spanning a range of everyday household chores such as cleaning, maintenance, and food preparation. These activities are designed to be realistic, diverse, and complex, aiming to reproduce the challenges that agents must face in the real world. Building such a benchmark poses three fundamental difficulties for each activity: definition (it can differ by time, place, or person), instantiation in a simulator, and evaluation. BEHAVIOR addresses these with three innovations. First, we propose an object-centric, pr","authors_text":"Cem Gokmen, Chengshu Li, C. Karen Liu, Fei Xia, Hyowon Gweon, Jiajun Wu, Kent Vainio, Li Fei-Fei, Michael Lingelbach, Roberto Mart\\'in-Mart\\'in, Sanjana Srivastava, Shyamal Buch, Silvio Savarese, Zheng Lian","cross_cats":["cs.AI","cs.CV"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-08-06T23:36:23Z","title":"BEHAVIOR: Benchmark for Everyday Household Activities in Virtual, Interactive, and Ecological Environments"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2108.03332","kind":"arxiv","version":1},"verdict":{"created_at":null,"id":null,"model_set":{},"one_line_summary":"","pipeline_version":null,"pith_extraction_headline":"","strongest_claim":"","weakest_assumption":""}},"verdict_id":null}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:ceb516af315ba2a8b10d3e2babadb2f67c60d9f568b4ec73721f4fcc4960543f","target":"record","created_at":"2026-07-05T03:03:51Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"attestation_state":"computed","canonical_record":{"metadata":{"abstract_canon_sha256":"4b3869147c590cd2be415209c3fd7e693f8ca2dd7ac090029b74f115b60cebc1","cross_cats_sorted":["cs.AI","cs.CV"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-08-06T23:36:23Z","title_canon_sha256":"57e6f0bd572860a02dbccfb65c2bc666964c58af00736eab9ed9ca658d164aed"},"schema_version":"1.0","source":{"id":"2108.03332","kind":"arxiv","version":1}},"canonical_sha256":"c1b7de0c3256ea8dd573105d850a99d58a15769849122a2ee8bdaa15fd1b45b0","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c1b7de0c3256ea8dd573105d850a99d58a15769849122a2ee8bdaa15fd1b45b0","first_computed_at":"2026-07-05T03:03:51.883862Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:03:51.883862Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"7IZ2icAQqE5MXxS6HLFmuRWbIb6qlY2w7hINEFHYNsbg1wMxPDqiLToZDBVzPfMX+vE+/YBJMkTGvhyndY3WDQ==","signature_status":"signed_v1","signed_at":"2026-07-05T03:03:51.884298Z","signed_message":"canonical_sha256_bytes"},"source_id":"2108.03332","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:ceb516af315ba2a8b10d3e2babadb2f67c60d9f568b4ec73721f4fcc4960543f","sha256:d92ebe8acaca585a912312c88bb96fd1bcc36e12c190b09edb8acdb0dbdcf486"],"state_sha256":"6e9fd9d959ba2fc04f4e6f372bf22f55677d64780c4ee3f02b0fe634eace5ff7"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"rIYff6u4GkX9ziLtntchp96IQD7vnyRsG/7n75PdV4OGP3CESryEjtvJCYAXl4szGUrEpE5IrhiN0s71r8ojDw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-08T02:54:29.437632Z","bundle_sha256":"e36918a0dad79b8f35ccf5986acd5770942ced59e283b9b33c77a5ef143d2fb8"}}